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I haven't investigated the layout of the tank, but might it be that the sensor is in one side (the same side as the fuel pickup)?
If so, if you're riding in a straight line for a while, the level in that side might get low and trigger the fuel light. Then you go around a corner, brake, or accelerate and some fuel sloshes over from the other side and turns the fuel light off.
As I said, I don't know whether that's possible on our S3s, but I've had exactly this "problem" on past bikes and the above story explained it.
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